CN105678946B - Fire Long Range Detecting and Ranging and its detection method based on unmanned plane - Google Patents
Fire Long Range Detecting and Ranging and its detection method based on unmanned plane Download PDFInfo
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- CN105678946B CN105678946B CN201610097051.XA CN201610097051A CN105678946B CN 105678946 B CN105678946 B CN 105678946B CN 201610097051 A CN201610097051 A CN 201610097051A CN 105678946 B CN105678946 B CN 105678946B
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- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 239000000779 smoke Substances 0.000 claims description 42
- 230000005611 electricity Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 12
- 238000012216 screening Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 6
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- 235000019504 cigarettes Nutrition 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N15/06—Investigating concentration of particle suspensions
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/50—On board measures aiming to increase energy efficiency
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Abstract
The present invention relates to a kind of fire Long Range Detecting and Ranging and its detection method based on unmanned plane, this fire Long Range Detecting and Ranging includes：Suitable for detecting the unmanned plane of smog, with the base station server of the unmanned plane wireless telecommunications, fire Long Range Detecting and Ranging involved in the present invention and its detection method covered with solar panel on wing by converting light energy into electric energy needed for unmanned plane, the flight range of unmanned plane is greatly extended, is advantageous to carry out large area fire hazard monitoring.
Description
Technical field
The present invention relates to a kind of unmanned plane, and in particular to a kind of fire Long Range Detecting and Ranging and its detection based on unmanned plane
Method.
Background technology
Traditional fire Long Range Detecting and Ranging often can only some region of air pollution degree of static instrumentation, can not realize
More ground region measurement, and traditional fire Long Range Detecting and Ranging can not be accurately positioned to pollution sources, and unmanned plane due to
The limitation of the energy, flying radius is small, can not flying for long time, therefore the problem of cause fire hazard monitoring narrow range.
Therefore, in order to solve the above-mentioned technical problem, the invention provides a kind of fire remote probe system based on unmanned plane
System and its detection method.
The content of the invention
It is an object of the invention to provide a kind of fire Long Range Detecting and Ranging and its detection method based on unmanned plane, pass through fortune
Realize that large-range fire disaster easily sends out area monitoring with unmanned plane.
In order to solve the above-mentioned technical problem, the invention provides a kind of fire Long Range Detecting and Ranging, including：Suitable for detecting cigarette
The unmanned plane of mist, the base station server with the unmanned plane wireless telecommunications, and covered with solar panel on wing, and institute
Solar panel is stated to be suitable to convert light energy into electric energy needed for unmanned plane.
Further, the unmanned plane includes：Airborne processor module, the Smoke Detection being connected with the airborne processor module
Sensing unit, airborne navigation positioning module；When the unmanned plane detects smog in flight course, the airborne processor
Module is positioned with being currently located according to airborne navigation positioning module to aircraft, and location data is sent to base station and serviced
Device；The airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines smog
The direction in area.
Further, after unmanned plane detects smog, the airborne processor module controls unmanned plane around smoke region disk
Rotation, to lock current smoke region；And after smoke region is locked, unmanned plane enters smog area, and dives downwards, adjusts simultaneously
Flight attitude makes unmanned plane fly nearly smog in smoke zone all the time area occurs, i.e., when unmanned plane is in process of subduction, if smog
When detection sensing unit detects that unmanned plane departs from smoke zone, flight attitude is corrected, so that unmanned plane is maintained in smoke zone, by
Gradually fly nearly smog and area occurs, after unmanned plane reaches certain altitude, area is occurred to smog and locked, and smog is occurred
The exact position in area is sent to base station server.
Further, the unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server；The fire
Long Range Detecting and Ranging also includes：With the onboard navigation system of base station server radio communication；The onboard navigation system is suitable to root
This area is driven into the exact position that area occurs for the smog sent according to unmanned plane as target location guiding vehicle；It is described vehicle-mounted to lead
Boat system includes：In-vehicle processor module, the automotive positioning module being connected with the in-vehicle processor module, data storage mould
Block；The data memory module is stored with map datum, vehicle radius of turn data；The in-vehicle processor module is suitable to basis
Vehicle current location and target location, and combine the radius of turn data schema guidance path of Current vehicle.
Further, if the in-vehicle processor module is suitable to precompute between vehicle current location and target location
Dry bar preliminary planning guidance path；And corresponding bend section is searched in each preliminary planning guidance path, and according to this vehicle institute
Corresponding each bend section of radius of turn data screening, that is, obtain the planning navigation road corresponding to the bend section for being adapted to this vehicle
Footpath.
Further, the min. turning radius r corresponding to this vehicle is obtained from vehicle radius of turn data；The processor
Suitable for turning radius Rs of the min. turning radius r with each bend section is compared, filter out turning radius R and be more than or equal to minimum
Radius of turn r bend section, and planned again according to the bend section after each screening and vehicle current location and target location
Guidance path.
Further, the in-vehicle processor module is further adapted for the real-time road in the bend section of acquisition being classified, i.e.,
It is divided into unimpeded, jogging, crowded, four kinds of ranks of congestion, and turning radius R is repaiied using four kinds of ranks as corresponding weight
Just；That is R1=R* (1-kx)；In formula, R1 is revised turning radius, and k is weight coefficient, representing unimpeded respectively, walking or drive slowly, gathering around
Squeeze, four kinds of ranks of congestion, x is bend correction factor, takes 0<x<1.
Further, the in-vehicle processor module is also connected with back wheels of vehicle steering；After vehicle is entering bend, car
Borne processor module is according to the bend section obtained from map and with reference to current vehicle speed, on the basis of front-wheel steer, from
The steering angle of dynamic adjustment trailing wheel, i.e. vehicle realize trailing wheel toe-in when turning to.
Another aspect, in order to solve above-mentioned same technical problem, present invention also offers a kind of fire remote probe side
Method, smoke region is detected by unmanned plane, and detection data is sent to base station server, and the wing overlying of the unmanned plane
Solar panel is stamped, and the solar panel is suitable to convert light energy into electric energy needed for unmanned plane.
Further, the unmanned plane includes：Airborne processor module, the Smoke Detection being connected with the airborne processor module
Sensing unit, airborne navigation positioning module；When the unmanned plane detects smog in flight course, the airborne processor
Module is positioned with being currently located according to airborne navigation positioning module to aircraft, and location data is sent to base station and serviced
Device；The airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines smog
The direction in area.
When unmanned plane detects smog, the airborne processor module control unmanned plane spirals around smoke region, gradually
Diminution is spiraled scope, and to lock current smoke region, and after smoke region is locked, unmanned plane enters smog area, and to nutation
Punching, while adjusting flight attitude makes unmanned plane fly nearly smog generation area in smoke zone all the time, i.e., when unmanned plane was diving
Cheng Zhong, if Smoke Detection sensing unit detects that unmanned plane departs from smoke zone, flight attitude is corrected, so that unmanned plane is maintained at
In smoke zone, gradually fly nearly smog and area occur, after unmanned plane reaches certain altitude, area is occurred to smog and locked,
And the exact position for smog being occurred area is sent to base station server.
Further, the unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server；It is and described
Fire Long Range Detecting and Ranging also includes：With the onboard navigation system of base station server radio communication；The onboard navigation system is fitted
This area is driven into the exact position that area occurs in the smog sent according to unmanned plane as target location guiding vehicle；The car
Carrying navigation system includes：In-vehicle processor module, automotive positioning module, the data being connected with the in-vehicle processor module are deposited
Store up module；The data memory module is stored with map datum, vehicle radius of turn data；The in-vehicle processor module is suitable to
According to vehicle current location and target location, and combine the radius of turn data schema guidance path of Current vehicle；The car
Borne processor module is suitable to precompute some preliminary planning guidance paths between vehicle current location and target location；
And corresponding bend section is searched in each preliminary planning guidance path, and the radius of turn data screening according to corresponding to this vehicle
Each bend section, that is, obtain the planning guidance path corresponding to the bend section for being adapted to this vehicle；From vehicle radius of turn data
The middle min. turning radius r obtained corresponding to this vehicle；The processor is suitable to min. turning radius r and each bend section
Turning radius R compares, filter out turning radius R be more than or equal to min. turning radius r bend section, and according to each screening after
Bend section and vehicle current location and target location plan guidance path again；The in-vehicle processor module be further adapted for by
The real-time road in the bend section of acquisition is classified, that is, is divided into unimpeded, jogging, crowded, four kinds of ranks of congestion, and by four kinds of levels
Not Zuo Wei corresponding weight turning radius R is modified；That is R1=R* (1-kx)；In formula, R1 is revised turning radius, k
For weight coefficient, to represent unimpeded respectively, walk or drive slowly, crowded, four kinds of ranks of congestion, x is bend correction factor, takes 0<x<1；It is described
In-vehicle processor module is also connected with back wheels of vehicle steering；When vehicle enter bend after, in-vehicle processor module according to from
The bend section that is obtained on map and with reference to current vehicle speed, on the basis of front-wheel steer, the steering angle of adjust automatically trailing wheel
Degree, i.e. vehicle realize trailing wheel toe-in when turning to.
The beneficial effects of the invention are as follows：Fire Long Range Detecting and Ranging involved in the present invention and its detection method pass through wing
On covered with solar panel convert light energy into electric energy needed for unmanned plane, greatly extend the flight range of unmanned plane,
Be advantageous to carry out large area fire hazard monitoring, and the direction of pollution sources can also just sentence, be then accurately positioned again,
Accurately to lock the geographical position that area occurs for smog, there is accuracy of judgement, the advantages of positioning precision is high；And also by taking photo by plane
Device can check that the concrete condition in area occurs for smog, be easy to the staff of base station server to appoint vehicle, enforced the law
Or take corresponding measure（Such as rescue, measure of putting out a fire）, can also be specified according to the vehicle radius of turn data appointed and accordingly led
Bit path, to ensure that relevant work personnel can quickly reach the spot.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the theory diagram of the fire Long Range Detecting and Ranging of the present invention；
Fig. 2 is unmanned plane around smoke region spiral path；
Fig. 3 is underriding track of the unmanned plane in smoke zone；
Fig. 4 is the urban road path of simulation.
In figure：Area 4 occurs for unmanned plane 1, smoke region 2, smoke zone 3, smog.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
As shown in figure 1, embodiment 1 provides a kind of fire Long Range Detecting and Ranging, including：Suitable for detection smog nobody
Machine, the base station server with the unmanned plane wireless telecommunications, and covered with solar panel on wing, and the solar energy
Cell panel is suitable to convert light energy into electric energy needed for unmanned plane.
Specifically, being provided with lithium battery in the unmanned plane, solar panel passes through charging-discharging controller and lithium battery phase
Even, and the output feeder ear of charging-discharging controller is connected with unmanned plane power taking end.Wherein, the charging-discharging controller can use
Prior art is realized.
The unmanned plane includes：Airborne processor module, the Smoke Detection sensing being connected with the airborne processor module are single
First, airborne navigation positioning module；When the unmanned plane detects smog in flight course, the airborne processor die root tuber
Aircraft is positioned with being currently located according to airborne navigation positioning module, and location data is sent to base station server；It is described
Airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines that the side in area occurs for smog
To.
Wherein, unmanned plane can use 2G, 3G or 4G wireless network, or GPRS wireless communication modes to enter with base station server
Row wireless telecommunications, airborne processor module can pass through a variety of known wireless means（Such as less radio-frequency）It is attached.Unmanned plane
It can also be communicated wirelessly between base station server through Satellite Communication System.
Wherein, Smoke Detection sensing unit include and be not limited to PM2.5 detection sensors, PM10 detection sensors, smog
Sensor etc..
Wherein, the altitude information of aircraft can be obtained by pneumatic process or GPS methods.
As shown in Figures 2 and 3, when unmanned plane detects smog, the airborne processor module controls unmanned plane around cigarette
Spiral in fog-zone domain（Scope of spiraling is gradually reduced）To lock current smoke region, and after smoke region is locked, unmanned plane enters
Smog area, and dive downwards, while adjusting flight attitude makes unmanned plane fly nearly smog generation area in smoke zone all the time, that is, works as
Unmanned plane is in process of subduction, if Smoke Detection sensing unit detects that unmanned plane departs from smoke zone, corrects flight attitude, with
Unmanned plane is maintained in smoke zone, gradually fly nearly smog and area occurs, after unmanned plane reaches certain altitude, smog is occurred
Area is locked, and regional exact position is occurred for smog and is sent to base station server.
The adjustment of the flight attitude can be realized by the gyroscope being connected with airborne processor module.
Wherein, the method for locking can be locked using airborne heat sensor to target, or pass through aerial device people
Work locks, and image procossing can also be used to carry out self-locked to target；Obtain the method that the exact position in area occurs for smog
Including and be not limited to：When area occurs for unmanned plane locking smog（The places such as building, building site）Afterwards, fly that area is occurring just to smog
Overhead, the position for recording current unmanned plane are sent to base station server as the exact position in smog generation area.
Regional method is occurred to obtain the exact position that area occurs for smog close to smog in smoke zone by unmanned plane,
Effectively avoid when haze occurs, unmanned plane can not be accurately positioned smog in high-altitude and the problem of regional occurs.
The unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server；The fire is remotely visited
Examining system also includes：With the onboard navigation system of base station server radio communication；The onboard navigation system is suitable to according to nobody
This area is driven into the exact position that area occurs for the smog that machine is sent as target location guiding vehicle；The onboard navigation system
Including：In-vehicle processor module, the automotive positioning module being connected with the in-vehicle processor module, data memory module；Institute
State data memory module and be stored with map datum, vehicle radius of turn data；The in-vehicle processor module is suitable to according to vehicle
Current location and target location, and combine the radius of turn data schema guidance path of Current vehicle.
By the aerial device, the reason for smog occurs can be clearly checked in the staff of base station server,
Or fire, or burn away the refuse, in order to appoint corresponding vehicle to be handled, such as fire fighting truck, ambulance or accordingly hold
Method vehicle.
Quickly vehicle can will be appointed to sail to scene by the onboard navigation system.
Airborne, the in-vehicle processor module for example with embedded chip, the in-vehicle processor module also with touch
Screen is connected, in order to carry out corresponding input operation and display.
Specifically, the vehicle radius of turn data include but is not limited to the length and width of all kinds vehicle, wheelbase, vehicle
The data such as radius of turn；The processor can input vehicle by interpersonal interactive interface, and from vehicle radius of turn data
The radius of turn data that middle lookup matches with the vehicle, and the weight using the radius of turn data as navigation programming guidance path
Will foundation.
In all kinds vehicle：In-between car 8.00~12.00, common fire fighting truck 9.00, large-scale fire fighting truck 12.00, ascend a height
Fire fighting truck 12.00, some special type fire control vehicles 16.00~20.00, unit：Rice.
The in-vehicle processor module is suitable at the beginning of precomputing some between vehicle current location and target location
Step planning guidance path；And corresponding bend section is searched in each preliminary planning guidance path, and according to corresponding to this vehicle
Each bend section of radius of turn data screening, that is, the planning guidance path corresponding to the bend section for being adapted to this vehicle is obtained, should
It can be one or some to plan guidance path, so that driver is selected.
Fig. 4 is the urban road path of simulation, and A is vehicle current location, B is that objective, remaining each point represent respectively
Each turning section in city.
Setting vehicle current location A to objective B path have：ACDFEB, AKJIHGB, ACDFIHGB, if turning road
Section H radius of turn is smaller, is 6m, if selection Current vehicle is a certain medium sized vehicle, min. turning radius r is 8m, then turns
Section H radius of turn is less than 8m, therefore this navigation system is rejected in tri- paths of ACDFEB, AKJIHGB, ACDFIHGB with turning
Corresponding planning guidance path relevant detour section H, therefore select ACDFEB to arrive at B.
Also, optional, the processor is further adapted for the selected each bend section for meeting vehicle turning and requiring, and according to car
Current location and target location, it is minimum or distance is most short for condition with the used time, and planned again according to above-mentioned each bend section
Guidance path, to obtain optimum programming guidance path.
By selecting the vehicle of Current vehicle from vehicle radius of turn data, that is, obtain the vehicle corresponding to this vehicle
Length and width, wheelbase, min. turning radius r.
The processor is suitable to compare turning radius Rs of the min. turning radius r with each bend section, and screening is gone off the curve
Radius R is more than or equal to min. turning radius r bend section, and according to the bend section after each screening and vehicle current location and
Again guidance path is planned in target location.
The in-vehicle processor module is further adapted for the real-time road in the bend section of acquisition being classified, that is, is divided into smooth
Logical, jogging, crowded, four kinds of ranks of congestion, and turning radius R is modified using four kinds of ranks as corresponding weight；That is R1=
R*(1-kx)；In formula, R1 is revised turning radius, and k is weight coefficient, to represent unimpeded respectively, walk or drive slowly, crowded, congestion
Four kinds of ranks, x are bend correction factor, take 0<x<1.
Wherein, the value of the weight coefficient k for example take 0,1,2,3 with respectively with it is unimpeded, jogging, crowded, four kinds of congestion
Rank is corresponding, and bend correction factor x value can obtain based on experience value, such as take 0.1.For example turning radius R is
50m, when unimpeded, R1=50m；In jogging, R1=45m；When crowded, R1=40m；In congestion, R1=35m；That is, in path
During planning, this navigation system is further adapted for, according to real-time road, adjusting and being modified radius of turn, to meet that turn inside diameter will
Ask, and then realize and path is planned again.
Or by taking Fig. 4 as an example, if setting vehicle current location A to objective B path have：ACDFEB、AKJIHGB、
ACDFIHGB, if turning section H is unsatisfactory for the requirement of Current vehicle radius of turn, and because D sections get congestion, cause to turn
After radius amendment also can not vehicle turn radius requirement, then this navigation system plans guidance path, i.e. AKJIFEB again, with full
Sufficient vehicle pass-through requirement.
Wherein, real-time road can be obtained by wireless module from road monitoring server.The wireless module can be with
Using 3G/4G modules.
The in-vehicle processor module is also connected with back wheels of vehicle steering；After vehicle is entering bend, on-board processing
Device module is according to the bend section obtained from map and with reference to current vehicle speed, on the basis of front-wheel steer, adjust automatically
The steering angle of trailing wheel, that is, vehicle is realized when turning to, trailing wheel toe-in.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 provides a kind of fire remote probe method, and cigarette is detected by unmanned plane
Fog-zone domain, and detection data is sent to base station server, and covered with solar panel on the wing of the unmanned plane, and
The solar panel is suitable to convert light energy into electric energy needed for unmanned plane.
The unmanned plane includes：Airborne processor module, the Smoke Detection sensing being connected with the airborne processor module are single
Member, navigation positioning module；
When the unmanned plane detects smog in flight course, the airborne processor module is according to navigator fix mould
Block is positioned with being currently located to aircraft, and location data is sent to base station server；
The airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines smog
The direction in area occurs；
When unmanned plane detects smog, the airborne processor module control unmanned plane spirals around smoke region, gradually
Diminution is spiraled scope, and to lock current smoke region, and after smoke region is locked, unmanned plane enters smog area, and to nutation
Punching, while adjusting flight attitude makes unmanned plane fly nearly smog generation area in smoke zone all the time, i.e., when unmanned plane was diving
Cheng Zhong, if Smoke Detection sensing unit detects that unmanned plane departs from smoke zone, flight attitude is corrected, so that unmanned plane is maintained at
In smoke zone, gradually fly nearly smog and area occur, after unmanned plane reaches certain altitude, area is occurred to smog and locked,
And the exact position for smog being occurred area is sent to base station server.
Preferably, the unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server；It is and described
Fire Long Range Detecting and Ranging also includes：With the onboard navigation system of base station server radio communication；The onboard navigation system is fitted
This area is driven into the exact position that area occurs in the smog sent according to unmanned plane as target location guiding vehicle；The car
Carrying navigation system includes：In-vehicle processor module, automotive positioning module, the data being connected with the in-vehicle processor module are deposited
Store up module；The data memory module is stored with map datum, vehicle radius of turn data；The method of work includes：It is described
In-vehicle processor module is suitable to according to vehicle current location and target location, and combines the radius of turn data rule of Current vehicle
Draw guidance path.
The in-vehicle processor module is suitable at the beginning of precomputing some between vehicle current location and target location
Step planning guidance path；And corresponding bend section is searched in each preliminary planning guidance path, and according to corresponding to this vehicle
Each bend section of radius of turn data screening, that is, obtain the planning guidance path corresponding to the bend section for being adapted to this vehicle.
The min. turning radius r corresponding to this vehicle is obtained from vehicle radius of turn data；The processor is suitable to will
Min. turning radius r filters out turning radius R and is more than or equal to minimum turn partly compared with the turning radius R in each bend section
Footpath r bend section, and plan navigation road again according to the bend section after each screening and vehicle current location and target location
Footpath.
The in-vehicle processor module is further adapted for the real-time road in the bend section of acquisition being classified, that is, is divided into smooth
Logical, jogging, crowded, four kinds of ranks of congestion, and turning radius R is modified using four kinds of ranks as corresponding weight；That is R1=
R*(1-kx)；In formula, R1 is revised turning radius, and k is weight coefficient, to represent unimpeded respectively, walk or drive slowly, crowded, congestion
Four kinds of ranks, x are bend correction factor, take 0<x<1；Wherein, the value of the weight coefficient k for example takes 0,1,2,3 with respectively
With it is unimpeded, jogging, crowded, four kinds of ranks of congestion are corresponding, bend correction factor x value can obtain based on experience value,
Such as take 0.1.
Specifically, when turning section is more crowded, it is clear that for oversize vehicle, radius of turn can be affected,
Therefore, in navigation, it is necessary to such a section is prejudged, after avoiding vehicle from entering the bend, turning occurs and is obstructed.
The present invention effectively have modified turning radius according to road conditions, enable the vehicle to effectively keep away by R1=R* (1-kx) formula
Exempt from vehicle and drive into respective stretch, cause congestion.
And the in-vehicle processor module is also connected with back wheels of vehicle steering；It is vehicle-mounted after vehicle is entering bend
Processor module is according to the bend section obtained from map and with reference to current vehicle speed, on the basis of front-wheel steer, automatically
The steering angle of trailing wheel is adjusted, i.e. vehicle realizes trailing wheel toe-in when turning to.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (1)
- A kind of 1. fire Long Range Detecting and Ranging, it is characterised in that including：Suitable for detecting the unmanned plane of smog, with the unmanned plane The base station server of wireless telecommunications, andCovered with solar panel on wing, and the solar panel is suitable to convert light energy into electricity needed for unmanned plane Energy；The unmanned plane includes：Airborne processor module, Smoke Detection sensing unit, the machine being connected with the airborne processor module Carry navigation positioning module；When the unmanned plane detects smog in flight course, the airborne processor module is according to airborne navigator fix mould Block is positioned with being currently located to aircraft, and location data is sent to base station server；AndThe airborne processor module is further adapted for the wind direction data that ground is currently located according to the aircraft that base station server is sent, it is determined that The direction in area occurs for smog；After unmanned plane detects smog, the airborne processor module control unmanned plane spirals around smoke region, is worked as with locking Preceding smoke region；And after smoke region is locked, unmanned plane enters smog area, and dives downwards, while adjusting flight attitude makes unmanned plane begin Fly nearly smog in smoke zone eventually and area occurs, area, which occurs, to smog locks, and smog is occurred the accurate position in area Put and be sent to base station server.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610097051.XA CN105678946B (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging and its detection method based on unmanned plane |
| CN201711074189.9A CN107886672A (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging, detection method based on unmanned plane |
| CN201711074199.2A CN107680321A (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging based on unmanned plane |
| CN201711074196.9A CN107871379A (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging, detection method based on unmanned plane |
| CN201711074198.8A CN107680320A (en) | 2016-02-22 | 2016-02-22 | The fire Long Range Detecting and Ranging of fire-prone area monitoring is realized based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610097051.XA CN105678946B (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging and its detection method based on unmanned plane |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711074198.8A Division CN107680320A (en) | 2016-02-22 | 2016-02-22 | The fire Long Range Detecting and Ranging of fire-prone area monitoring is realized based on unmanned plane |
| CN201711074196.9A Division CN107871379A (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging, detection method based on unmanned plane |
| CN201711074189.9A Division CN107886672A (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging, detection method based on unmanned plane |
| CN201711074199.2A Division CN107680321A (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging based on unmanned plane |
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| CN105678946B true CN105678946B (en) | 2017-12-12 |
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| CN201711074196.9A Withdrawn CN107871379A (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging, detection method based on unmanned plane |
| CN201711074198.8A Withdrawn CN107680320A (en) | 2016-02-22 | 2016-02-22 | The fire Long Range Detecting and Ranging of fire-prone area monitoring is realized based on unmanned plane |
| CN201610097051.XA Active CN105678946B (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging and its detection method based on unmanned plane |
| CN201711074199.2A Withdrawn CN107680321A (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging based on unmanned plane |
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| CN201711074196.9A Withdrawn CN107871379A (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging, detection method based on unmanned plane |
| CN201711074198.8A Withdrawn CN107680320A (en) | 2016-02-22 | 2016-02-22 | The fire Long Range Detecting and Ranging of fire-prone area monitoring is realized based on unmanned plane |
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| CN201711074199.2A Withdrawn CN107680321A (en) | 2016-02-22 | 2016-02-22 | Fire Long Range Detecting and Ranging based on unmanned plane |
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| CN106448161A (en) * | 2016-09-30 | 2017-02-22 | 广东中星微电子有限公司 | Road monitoring method and road monitoring device |
| CN106781180A (en) * | 2017-02-14 | 2017-05-31 | 无锡觅睿恪科技有限公司 | Scene of fire monitors unmanned plane |
| CN107289945A (en) * | 2017-07-07 | 2017-10-24 | 深圳市华琥技术有限公司 | A kind of Navigation of Pilotless Aircraft method |
| CN108254503A (en) * | 2018-01-11 | 2018-07-06 | 上海交通大学 | Unmanned plane discharges the method for telemetering and its system |
| CN110084992A (en) * | 2019-05-16 | 2019-08-02 | 武汉科技大学 | Ancient buildings fire alarm method, device and storage medium based on unmanned plane |
| CN110706444B (en) * | 2019-10-22 | 2021-05-14 | 北京航天常兴科技发展股份有限公司 | Comprehensive pyrolytic particle electrical fire monitoring method, device and system |
| CN112148028B (en) * | 2020-08-28 | 2022-06-14 | 合肥工业大学 | Environment monitoring method and system based on unmanned aerial vehicle shooting image |
| CN115585850B (en) * | 2022-11-15 | 2023-04-07 | 中国地质大学（北京） | Underground engineering disaster source multi-element detection amphibious unmanned aerial vehicle platform and detection method |
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| IL117521A0 (en) * | 1996-03-17 | 1996-10-31 | Israel Aircraft Ind Ltd Malat | A fire imaging system and method |
| US20090205845A1 (en) * | 2008-02-16 | 2009-08-20 | Fire Termination Equipment, Incorporated | System and method for extinguishing wildfires |
| CN202976376U (en) * | 2012-11-22 | 2013-06-05 | 华南农业大学 | Forest fire monitoring and emergency command system based unmanned aerial vehicle |
| KR20140127574A (en) * | 2013-04-25 | 2014-11-04 | (주)유타스 | Fire detecting system using unmanned aerial vehicle for reducing of fire misinformation |
| CN104567897A (en) * | 2013-10-16 | 2015-04-29 | 大陆汽车投资（上海）有限公司 | Road condition forecast combined path planning method and navigation device |
| US9158304B2 (en) * | 2013-11-10 | 2015-10-13 | Google Inc. | Methods and systems for alerting and aiding an emergency situation |
| CN203865002U (en) * | 2014-06-09 | 2014-10-08 | 江苏工程职业技术学院 | Straw burning monitoring device |
| CN104143248B (en) * | 2014-08-01 | 2016-09-14 | 江苏恒创软件有限公司 | Forest fire detection based on unmanned plane and preventing control method |
| CN104156901A (en) * | 2014-08-01 | 2014-11-19 | 江苏恒创软件有限公司 | People searching and basic material conveying method based on unmanned aerial vehicle in special environment |
| CN204802088U (en) * | 2015-07-03 | 2015-11-25 | 新疆思迪信息技术有限公司 | Be applied to unmanned aerial vehicle of conflagration early warning |
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- 2016-02-22 CN CN201711074189.9A patent/CN107886672A/en not_active Withdrawn
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- 2016-02-22 CN CN201711074198.8A patent/CN107680320A/en not_active Withdrawn
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| Publication number | Publication date |
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| CN107886672A (en) | 2018-04-06 |
| CN107680320A (en) | 2018-02-09 |
| CN107871379A (en) | 2018-04-03 |
| CN107680321A (en) | 2018-02-09 |
| CN105678946A (en) | 2016-06-15 |
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